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19
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Hu
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Dis
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Ho
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Min
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Vietn
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td
tu
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u
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v
n
NO
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CL
A
T
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:
Stato
r
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in
[
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Ma
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R
o
to
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f
lu
x
a
n
g
le
1.
I
NT
RO
D
UCT
I
O
N
Asy
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ch
r
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o
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s
m
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t
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ates
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ased
on
th
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tr
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m
ag
n
etic
in
d
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r
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cip
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is
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of
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m
o
s
t
p
o
p
u
lar
elec
tr
ic
m
ac
h
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ty
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es
with
a
wid
e
v
ar
iet
y
of
in
d
u
s
tr
ial
ap
p
licatio
n
s
.
B
ased
on
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n
v
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ter
tech
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n
d
m
icr
o
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r
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r
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th
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g
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tr
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alg
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s
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atio
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e
in
to
s
p
ee
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co
n
tr
o
l
a
p
p
lica
tio
n
s
[
1
]
.
Scalar
co
n
tr
o
l
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
209
5
–
2
1
0
2
2096
v
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to
r
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n
tr
o
l
ar
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th
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r
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r
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ch
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MD
'
s
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p
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d
co
n
tr
o
l
ap
p
licatio
n
.
T
h
e
Scalar
co
n
tr
o
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(
Scl)
m
eth
o
d
'
s
b
asic
p
r
in
cip
le
is
to
k
ee
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th
e
f
lu
x
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a
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n
s
tan
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v
alu
e
wh
en
co
n
tr
o
llin
g
th
e
s
p
ee
d
by
ad
ju
s
tin
g
th
e
s
tato
r
v
o
ltag
e
ac
co
r
d
in
g
to
t
h
e
o
p
er
atin
g
s
p
ee
d
(
V/f
)
.
T
y
p
ical
s
ca
lar
m
eth
o
d
s
with
ad
v
an
tag
es
of
s
im
p
le
co
n
tr
o
l
alg
o
r
ith
m
,
f
ast
r
esp
o
n
s
e,
m
ed
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m
h
ar
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war
e
ar
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s
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itab
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f
o
r
ap
p
licatio
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s
th
at
do
not
r
e
q
u
ir
e
h
ig
h
p
r
ec
is
io
n
[2
]
-
[
5
]
.
Field
-
o
r
ien
ted
c
o
n
tr
o
l
(
FOC
)
is
a
ty
p
ical
m
o
d
e
r
n
co
n
tr
o
l
m
et
h
o
d
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th
e
v
ec
t
o
r
c
o
n
tr
o
l
m
eth
o
d
g
r
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p
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m
eth
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d
is
s
u
itab
le
f
o
r
a
p
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licatio
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s
r
eq
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ir
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g
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r
e
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s
p
ee
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n
d
to
r
q
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e
c
o
n
tr
o
l
[6
]
,
[
7
]
.
FOC
tech
n
iq
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e
c
o
n
v
e
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ts
th
e
I
M'
s
c
o
m
p
licated
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o
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s
tr
u
ctu
r
e
in
to
a
lin
ea
r
co
n
tr
o
l
s
tr
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ctu
r
e
s
im
ilar
to
th
e
DC
m
o
to
r
co
n
tr
o
l
tech
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iq
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e.
T
h
e
th
r
ee
-
p
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ase
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tato
r
cu
r
r
en
t
in
th
e
FOC
tech
n
iq
u
e
is
d
iv
id
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in
to
two
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th
o
g
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m
p
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“
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[
x,
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Fig
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1.
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n
t
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r
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lie
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M'
s
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e
[8
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-
[
1
4
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.
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h
e
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r
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th
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s
tato
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c
u
r
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t
p
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h
e
s
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d
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n
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FOC
tech
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iq
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e.
If
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er
e
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y
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ailu
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e
of
th
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cu
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r
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t
s
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s
o
r
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atio
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o
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m
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s
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ely
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e
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llap
s
e
of
th
e
to
tal
s
y
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tem
[
1
5
]
-
[
1
9
]
.
Stab
ilit
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an
d
r
eliab
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cr
iter
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tem
s
.
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r
e,
in
r
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t
y
ea
r
s
,
FOC
m
eth
o
d
s
with
o
u
t
cu
r
r
e
n
t
s
en
s
o
r
s
,
ca
lled
cu
r
r
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n
t
s
en
s
o
r
less
(
C
SL)
,
h
as
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ee
n
f
o
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ed
on
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.
Gen
er
ally
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v
ir
tu
al
c
u
r
r
en
t
s
ig
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als
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s
ed
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tea
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h
e
m
ea
s
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r
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r
r
en
t
s
ig
n
als
s
u
p
p
lied
to
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e
FOC
co
n
tr
o
l
lo
o
p
in
th
e
C
SL
tech
n
iq
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e.
T
h
e
aim
of
C
SL
c
o
n
tr
o
ller
s
is
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en
s
u
r
e
th
e
s
ta
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le
o
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atio
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e
I
MD
s
y
s
tem
in
co
n
tr
o
llin
g
th
e
r
o
to
r
s
p
ee
d
with
o
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t
f
ee
d
b
ac
k
cu
r
r
en
t
s
ig
n
al
f
r
o
m
s
en
s
o
r
s
in
v
ar
io
u
s
o
p
e
r
atin
g
co
n
d
itio
n
s
.
In
B
ar
b
a
et
a
l.
[
2
0
]
,
th
e
s
p
ee
d
of
I
MD
is
co
n
tr
o
lled
by
t
h
e
FOC
m
eth
o
d
with
o
u
t
an
y
cu
r
r
e
n
t
s
en
s
o
r
s
.
In
th
is
m
eth
o
d
,
an
o
b
s
er
v
e
r
b
ased
on
th
e
ty
p
ical
L
u
en
b
er
g
er
f
o
r
m
r
ec
eiv
es
cu
r
r
e
n
t
DC
-
lin
k
s
ig
n
als
an
d
th
e
f
ee
d
b
ac
k
r
o
to
r
s
p
ee
d
to
esti
m
ate
th
e
r
ef
er
en
ce
v
o
ltag
es
f
o
r
m
o
to
r
s
p
ee
d
co
n
tr
o
l.
T
h
e
s
u
cc
ess
of
th
e
m
eth
o
d
is
d
eter
m
in
ed
th
r
o
u
g
h
th
e
s
tab
le
o
p
er
atio
n
of
I
MD
u
n
d
e
r
n
o
r
m
al
co
n
d
itio
n
s
.
In
[
2
1
]
,
a
f
a
u
lt
-
to
ler
an
t
co
n
tr
o
l
is
p
r
esen
ted
as
a
s
o
lu
tio
n
ag
ain
s
t
th
e
f
ailu
r
e
of
cu
r
r
en
t
s
en
s
o
r
s
.
T
h
e
esti
m
ated
lin
e
-
cu
r
r
e
n
t
g
en
er
ated
f
r
o
m
a
L
u
en
b
er
g
er
o
b
s
er
v
er
is
u
s
ed
to
r
ep
lace
th
e
m
ea
s
u
r
ed
s
tato
r
cu
r
r
en
t
to
ca
lcu
late
th
e
elec
tr
i
ca
l
to
r
q
u
e
a
n
d
s
tato
r
f
lu
x
v
ec
to
r
f
o
r
th
e
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
ller
of
I
MD
.
Usi
n
g
est
im
ated
lin
e
-
cu
r
r
en
ts
h
as
e
n
s
u
r
ed
s
tab
le
o
p
er
atio
n
of
I
MD
u
n
d
er
cu
r
r
en
t
s
en
s
o
r
f
au
lt
s
tates.
In
[
2
2
]
,
A
n
ew
C
SL
m
eth
o
d
is
ap
p
lied
f
o
r
e
s
tim
atin
g
th
e
s
tato
r
cu
r
r
en
t
f
r
o
m
th
e
r
o
to
r
f
l
u
x
v
a
r
iab
le
an
d
v
o
ltag
e
s
ig
n
al
in
[
α
,
β]
co
o
r
d
in
ate.
In
th
is
way
,
th
e
s
p
ee
d
of
IM
is
co
n
tr
o
lled
th
r
o
u
g
h
th
e
FOC
lo
o
p
with
o
n
ly
a
f
ee
d
b
ac
k
s
p
ee
d
s
ig
n
al
of
th
e
en
co
d
er
.
T
h
e
I
MD
s
y
s
tem
with
o
u
t
cu
r
r
en
t
s
en
s
o
r
s
co
u
l
d
wo
r
k
s
tab
ly
an
d
r
eliab
l
y
u
n
d
er
v
a
r
i
o
u
s
o
p
er
atin
g
co
n
d
itio
n
s
.
Au
th
o
r
s
in
[
2
3
]
h
a
v
e
p
r
o
p
o
s
ed
a
m
eth
o
d
f
o
r
v
ir
tu
al
s
tato
r
cu
r
r
en
t
esti
m
atio
n
to
r
e
p
lace
th
e
f
u
n
ctio
n
of
th
e
m
ea
s
u
r
ed
cu
r
r
en
ts
i
n
th
e
s
p
ee
d
co
n
tr
o
l
of
I
MD
.
T
h
e
v
i
r
tu
al
cu
r
r
e
n
t
s
ig
n
als
in
th
is
p
a
p
er
ar
e
esti
m
ated
f
r
o
m
th
e
v
o
ltag
e
s
ig
n
al
of
t
h
e
DC
bus
an
d
th
e
f
ee
d
b
ac
k
s
ig
n
al
of
t
h
e
e
n
co
d
er
.
T
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
h
as
p
r
o
v
en
h
i
g
h
ly
r
eliab
le
wh
e
n
o
p
er
atin
g
e
f
f
icien
tly
u
n
d
er
lo
a
d
an
d
no
-
lo
a
d
co
n
d
itio
n
s
o
v
er
a
wid
e
s
p
ee
d
r
an
g
e.
T
h
is
p
ap
er
p
r
o
p
o
s
es
th
e
v
ir
t
u
al
s
tato
r
cu
r
r
en
ts
b
ased
on
th
e
s
lip
f
r
e
q
u
en
c
y
in
s
tead
of
f
ee
d
b
ac
k
cu
r
r
en
t
s
ig
n
als
in
th
e
FOC
tec
h
n
iq
u
e.
T
h
e
esti
m
atio
n
alg
o
r
it
h
m
u
s
es
m
ac
h
in
e
p
ar
am
eter
s
an
d
v
ir
tu
al
cu
r
r
en
ts
to
g
en
e
r
ate
th
e
p
r
ed
icted
v
o
lt
ag
e
s
u
p
p
lied
to
th
e
in
v
e
r
ter
s
witch
in
g
co
n
tr
o
l.
T
h
e
f
ea
s
ib
ilit
y
of
th
e
tech
n
iq
u
e
will
be
d
em
o
n
s
tr
ated
in
v
ar
io
u
s
o
p
er
atin
g
c
o
n
d
itio
n
s
in
t
h
e
Ma
tlab
/Si
m
u
lin
k
en
v
ir
o
n
m
en
t
.
Fig
u
r
e
1.
Vec
to
r
co
n
tr
o
l
d
iag
r
am
2.
F
O
C
M
E
T
H
O
D
USI
NG
T
H
E
VIR
T
UA
L
CURR
E
N
T
In
th
is
s
ec
tio
n
,
th
e
o
p
er
atio
n
al
s
tr
u
ctu
r
e
of
I
MD
s
y
s
tem
s
u
s
in
g
th
e
FOC
s
tr
ateg
y
is
in
tr
o
d
u
ce
d
in
g
en
er
al.
T
h
e
m
ath
em
atica
l
eq
u
atio
n
of
I
MD
is
p
r
esen
ted
in
d
etail
in
th
e
r
o
tatin
g
c
o
o
r
d
in
ate
s
y
s
tem
.
T
h
en
,
a
FOC
m
eth
o
d
with
o
u
t
cu
r
r
en
t
s
en
s
o
r
s
(
v
ir
tu
al
cu
r
r
en
ts
)
is
p
r
o
p
o
s
ed
f
o
r
th
e
s
p
ee
d
c
o
n
tr
o
l
of
th
e
I
MD
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2
0
8
8
-
8
694
A
field
-
o
r
ien
ted
co
n
tr
o
l m
eth
o
d
u
s
in
g
th
e
virt
u
a
l c
u
r
r
en
ts
fo
r
th
e
in
d
u
ctio
n
m
o
to
r
d
r
ive
(
C
u
o
n
g
Din
h
Tr
a
n
)
2097
2
.
1
.
F
O
C
t
ec
hn
iqu
e
in
ro
t
a
t
ing
co
o
rdina
t
e
s
y
s
t
em
T
h
e
FOC
wo
r
k
s
b
ased
on
p
r
o
jectio
n
s
on
th
e
a
x
es
of
th
e
[
x,
y
]
r
o
tatin
g
co
o
r
d
i
n
ate
s
y
s
tem
co
r
r
esp
o
n
d
in
g
to
r
o
to
r
f
lu
x
an
g
le
an
d
r
o
to
r
f
lu
x
s
p
ee
d
[
2
4
]
-
[
2
9
]
.
T
h
e
i
sx
-
co
m
p
o
n
e
n
t
is
u
s
ed
f
o
r
co
n
tr
o
llin
g
th
e
m
ag
n
etic
cu
r
r
en
t
to
k
ee
p
t
h
e
r
o
to
r
f
l
u
x
as
a
s
ettin
g
v
alu
e.
T
h
e
i
sy
-
co
m
p
o
n
e
n
t
co
n
tr
o
ls
th
e
elec
tr
ical
to
r
q
u
e
of
I
MD
to
o
b
tain
t
h
e
s
ettin
g
m
o
t
o
r
s
p
ee
d
.
T
h
e
o
p
er
atio
n
m
ec
h
an
is
m
of
th
e
I
MD
s
y
s
tem
u
s
in
g
th
e
ty
p
ical
FOC
s
tr
ateg
y
is
s
h
o
wn
in
th
e
b
l
o
ck
d
iag
r
am
in
Fig
u
r
e
2.
T
h
er
e
ar
e
th
r
ee
s
en
s
o
r
s
u
s
ed
in
th
e
ty
p
ical
FOC
m
eth
o
d
f
o
r
m
o
to
r
s
p
ee
d
co
n
tr
o
l,
i
n
clu
d
in
g
a
p
air
of
cu
r
r
en
t
s
en
s
o
r
s
a
n
d
a
s
p
ee
d
e
n
co
d
er
.
T
wo
-
p
h
ase
cu
r
r
en
t
s
i
g
n
als
in
th
e
[
a,
b,
c
]
c
o
o
r
d
in
a
te
is
tr
an
s
f
o
r
m
ed
to
th
e
[
α,
β
]
s
tatio
n
ar
y
co
o
r
d
in
at
e
by
u
s
in
g
C
lar
k
'
s
f
o
r
m
u
las
[
1
7
]
in
th
e
FOC
co
n
tr
o
ller
,
as
s
h
o
wn
in
(
1
)
.
Fig
u
r
e
2.
B
lo
ck
d
iag
r
am
of
I
MD
u
s
in
g
ty
p
ical
FOC
10
.
12
33
S
a
S
b
i
i
i
i
=
(
1
)
Nex
t
s
tep
,
Par
k
'
s
f
o
r
m
u
las
[
1
7
]
ar
e
u
s
ed
to
c
o
n
v
e
r
t
cu
r
r
e
n
t
v
ec
to
r
c
o
m
p
o
n
en
ts
f
r
o
m
[
α,
β
]
to
[
x,
y
]
co
o
r
d
in
ate,
as
s
h
o
wn
in
(
2
)
.
c
o
s
s
in
.
s
in
c
o
s
Sx
S
Sy
S
i
i
i
i
=
−
(
2
)
T
h
e
i
Sα
,
i
Sβ
co
m
p
o
n
en
ts
co
m
b
in
in
g
a
f
ee
d
b
ac
k
m
o
to
r
s
p
ee
d
s
ig
n
al
is
ap
p
lied
to
d
ete
r
m
in
e
th
e
m
ag
n
etic
cu
r
r
en
t
an
d
r
o
to
r
f
lu
x
an
g
le.
T
h
e
PI
c
o
n
tr
o
ller
s
u
s
e
th
e
d
e
v
iatio
n
of
th
e
r
ef
er
e
n
ce
a
n
d
ac
tu
al
s
ig
n
als
to
g
e
n
er
ate
t
h
e
r
ef
er
e
n
ce
v
o
ltag
e
in
[
x,
y
]
r
o
tatin
g
co
o
r
d
in
ate.
T
h
e
r
ev
er
s
e
Par
k
'
s
f
o
r
m
u
las
ar
e
ap
p
lied
to
co
n
v
er
t
t
h
is
r
ef
er
en
ce
s
ig
n
a
l
in
to
th
e
[
α,
β
]
s
tatio
n
ar
y
co
o
r
d
in
ate.
Fin
ally
,
th
e
r
ef
e
r
en
ce
v
o
ltag
e
is
tr
an
s
f
o
r
m
ed
b
a
ck
to
th
e
[
a,
b,
c
]
co
o
r
d
in
ate
f
o
r
t
h
e
s
witch
in
g
c
o
n
tr
o
l
p
u
ls
e
of
th
e
i
n
v
er
ter
.
2
.
2
.
Curre
nt
s
ens
o
rless
t
ec
h
niq
ue
ba
s
e
d
on
t
he
ro
t
o
r
s
lip
s
peed
(
Virt
ua
l
curr
ent
s
)
T
h
e
r
elatio
n
s
h
ip
b
etwe
en
v
o
ltag
e,
cu
r
r
en
t,
an
d
f
l
u
x
s
ig
n
als
in
IM
is
non
-
lin
ea
r
.
T
h
e
d
y
n
am
ic
eq
u
atio
n
s
of
IM
in
[
x,
y
]
r
o
tatin
g
co
o
r
d
in
ate
a
r
e
d
escr
ib
ed
in
d
etail
[
3
0
]
as
s
h
o
wn
in
:
=
+
+
(
3
)
=
+
+
(
4
)
0
=
−
+
(
5
)
0
=
−
+
(
6
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
209
5
–
2
1
0
2
2098
W
h
er
e
/
∶
Stato
r
/R
o
to
r
_
r
esis
tan
ce
:
R
o
to
r
s
lip
s
p
ee
d
:
Flu
x
_
s
p
ee
d
T
h
e
r
o
to
r
f
lu
x
is
k
ep
t
as
a
co
n
s
tan
t
v
alu
e
an
d
h
as
th
e
s
am
e
d
ir
ec
tio
n
as
th
e
x
-
a
x
is
of
th
e
co
o
r
d
in
at
e
co
r
r
esp
o
n
d
in
g
to
t
h
e
FOC
tech
n
iq
u
e.
T
h
e
f
ea
tu
r
e
of
r
o
to
r
f
lu
x
in
t
h
e
[
x,
y
]
r
o
tatin
g
co
o
r
d
in
ate
s
y
s
tem
,
as
s
h
o
wn
in
f
o
llo
ws:
{
=
=
=
0
(
7
)
Usi
n
g
(
7
)
in
to
(
3
)
-
(
6
)
,
we
can
r
ec
eiv
e
in
(
8
)
-
(
1
0
)
:
=
−
(
8
)
=
+
+
(
9
)
{
=
+
=
(
1
0
)
w
h
er
e:
{
=
(
−
2
)
/
:
Sta
tor
/
R
otor
_in
duc
ta
n
c
e
:
M
a
gn
e
tizin
g_in
duc
ta
n
c
e
:
R
otor
_time
c
on
s
ta
n
t
Fro
m
(
8
)
-
(
1
0
)
,
we
can
d
eter
m
i
n
e
th
e
s
tato
r
cu
r
r
en
t
co
m
p
o
n
e
n
ts
on
th
e
[
x
-
y
]
ax
is
th
r
o
u
g
h
in
:
=
1
[
−
−
+
]
(
1
1
)
=
+
(
1
2
)
T
h
e
r
o
to
r
s
lip
s
p
ee
d
can
be
d
et
er
m
in
ed
as
th
e
f
o
llo
win
g
:
=
=
(
1
3
)
Du
e
to
th
e
m
ag
n
etic
cu
r
r
en
t
is
k
ee
p
as
a
co
n
s
tan
t
v
alu
e
in
th
e
FOC
tech
n
iq
u
e;
th
er
ef
o
r
e,
we
can
ap
p
ly
t
h
e
r
e
f
er
en
ce
m
ag
n
etic
cu
r
r
en
ts
(
i
m
,
i
sx
)
a
n
d
r
ef
er
en
ce
v
o
ltag
e
on
t
h
e
y
-
ax
is
to
r
ep
lac
e
th
e
ac
tu
al
s
ig
n
als
in
th
e
d
if
f
er
e
n
tial
eq
u
ati
o
n
s
.
As
a
r
esu
lt,
we
ca
n
o
b
tain
th
e
esti
m
ated
eq
u
atio
n
s
f
o
r
v
ir
t
u
al
s
tato
r
cu
r
r
en
ts
b
ased
on
th
e
r
o
to
r
s
lip
r
o
to
r
,
as
s
h
o
wn
in
:
_
=
1
[
−
(
+
∗
∗
)
_
−
∗
+
∗
]
(
1
4
)
_
=
(
+
_
)
_
+
∗
(
1
5
)
W
h
er
e:
_
=
_
∗
(
1
6
)
T
h
e
b
lo
ck
d
iag
r
am
of
th
e
FOC
u
s
ed
th
e
v
ir
tu
al
s
tato
r
cu
r
r
en
t
is
s
h
o
wn
in
Fig
u
r
e
3.
AS
s
h
o
wn
in
(
1
4
)
,
(
1
5
)
,
(
1
6
)
ar
e
ap
p
lied
in
th
e
“
Vir
tu
al
c
u
r
r
e
n
t
esti
m
ato
r
b
lo
ck
”
f
o
r
g
e
n
er
atin
g
th
e
esti
m
ated
s
tato
r
cu
r
r
e
n
t
in
s
tead
of
f
ee
d
b
ac
k
cu
r
r
en
t
s
i
g
n
als
f
r
o
m
s
en
s
o
r
s
.
T
h
e
r
ef
e
r
en
ce
v
o
ltag
es,
r
e
f
er
en
ce
cu
r
r
en
ts
,
an
d
th
e
r
o
t
o
r
s
p
ee
d
s
ig
n
al
a
r
e
u
s
ed
as
t
h
e
in
p
u
t
s
ig
n
als
of
t
h
e
esti
m
ato
r
.
T
h
e
PI
co
n
tr
o
ller
s
u
s
e
th
e
r
e
f
er
e
n
ce
s
ig
n
als
an
d
t
h
e
esti
m
ated
s
ig
n
als
to
m
o
d
u
late
th
e
c
o
n
tr
o
l
v
o
ltag
e
f
o
r
th
e
s
witch
in
g
in
v
e
r
ter
.
As
a
r
esu
lt
,
th
e
s
p
ee
d
c
o
n
tr
o
l
u
s
in
g
FOC
s
tr
ateg
y
of
I
MD
is
im
p
lem
en
ted
with
o
n
ly
a
s
p
ee
d
s
en
s
o
r
in
th
e
d
r
iv
e
s
y
s
te
m
.
T
h
e
s
im
u
latio
n
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2
0
8
8
-
8
694
A
field
-
o
r
ien
ted
co
n
tr
o
l m
eth
o
d
u
s
in
g
th
e
virt
u
a
l c
u
r
r
en
ts
fo
r
th
e
in
d
u
ctio
n
m
o
to
r
d
r
ive
(
C
u
o
n
g
Din
h
Tr
a
n
)
2099
h
av
e
b
ee
n
im
p
lem
en
te
d
to
p
r
o
v
e
th
e
h
ig
h
p
e
r
f
o
r
m
an
ce
of
th
e
p
r
o
p
o
s
ed
tech
n
iq
u
e
in
m
an
y
o
p
er
atio
n
co
n
d
itio
n
s
.
Fig
u
r
e
3
.
B
lo
ck
d
iag
r
am
of
I
MD
u
s
in
g
FOC
with
th
e
v
ir
tu
al
cu
r
r
en
t
3.
SI
M
UL
A
T
I
O
N
R
E
S
UL
T
S
Simu
latio
n
s
ar
e
p
er
f
o
r
m
ed
in
m
an
y
o
p
er
atin
g
c
o
n
d
itio
n
s
to
v
er
if
y
th
e
f
ea
s
ib
ilit
y
of
v
ir
t
u
al
cu
r
r
en
t
esti
m
atio
n
m
eth
o
d
in
th
e
s
p
ee
d
co
n
tr
o
l
of
I
M.
T
h
e
s
im
u
lati
o
n
s
u
s
in
g
a
th
r
ee
-
p
h
ase
IM
with
a
r
ated
p
o
wer
of
2
.
2
kW
an
d
a
r
ated
v
o
ltag
e
D/Y
of
2
3
0
V/4
0
0
V
ar
e
im
p
l
em
en
ted
f
o
r
s
p
ee
d
co
n
tr
o
l.
T
h
e
p
a
r
am
eter
of
IM
ap
p
lied
to
th
e
s
im
u
latio
n
s
is
d
escr
ib
ed
in
T
ab
le
1
T
ab
le
1.
P
ar
am
eter
s
of
th
e
IM
D
e
scri
p
t
i
o
n
S
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mb
o
l
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n
i
t
V
a
l
u
e
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a
t
e
d
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o
r
q
u
e
T
n
Nm
1
4
.
8
R
a
t
e
d
_
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p
e
e
d
ω
n
r
p
m
1
4
2
0
R
a
t
e
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st
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t
o
r
c
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r
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e
n
t
D
/
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S
A
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.
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4
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t
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t
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r
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e
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st
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g
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c
t
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m
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mb
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l
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a
i
r
s
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t
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t
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r
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n
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c
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n
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e
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H
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0
9
T
h
e
co
n
tr
o
l
m
o
d
el
in
Fig
u
r
e
4
is
u
s
ed
to
im
p
lem
en
t
th
e
s
im
u
latio
n
s
f
o
r
s
p
ee
d
co
n
tr
o
l
of
I
MD
b
ased
on
th
e
FOC
tech
n
iq
u
e
in
v
ar
i
o
u
s
co
n
d
itio
n
s
Fig
u
r
e
4.
Simu
latio
n
m
o
d
el
of
I
MD
u
s
in
g
FOC
tech
n
iq
u
e
wi
th
o
u
t
cu
r
r
en
t
s
en
s
o
r
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
209
5
–
2
1
0
2
2100
In
th
e
f
ir
s
t
ca
s
e,
th
e
p
er
f
o
r
m
an
ce
of
I
MD
u
s
in
g
t
h
e
F
OC
tech
n
iq
u
e
with
o
u
t
cu
r
r
en
t
s
en
s
o
r
s
is
v
er
if
ied
in
th
e
r
ated
o
p
er
atin
g
co
n
d
itio
n
.
In
th
is
s
im
u
latio
n
,
t
h
e
r
ef
er
en
ce
s
p
ee
d
an
d
th
e
lo
a
d
to
r
q
u
e
ar
e
s
et
as
a
r
am
p
f
r
o
m
ze
r
o
to
r
ated
v
a
lu
e
f
o
r
a
1
-
s
ec
o
n
d
in
ter
v
al,
t
h
en
k
ep
t
as
a
co
n
s
tan
t
co
r
r
es
p
o
n
d
in
g
r
ated
v
alu
e
d
u
r
in
g
o
p
e
r
atio
n
,
as
s
h
o
wn
in
F
ig
u
r
e
s
5
(
a
)
-
(
d
)
.
T
h
e
IM
o
p
e
r
ated
s
tab
ly
,
a
n
d
t
h
e
r
esp
o
n
s
e
s
p
ee
d
of
th
e
I
MD
(
b
lu
e)
q
u
ick
l
y
r
ea
c
h
es
th
e
r
ef
er
en
ce
v
alu
e
(
r
ed
)
af
ter
a
s
h
o
r
t
tr
an
s
ien
t,
as
s
h
o
wn
in
Fig
u
r
e
5
(
a)
.
Fig
u
r
e
5
(
b
)
in
d
icate
s
th
e
v
ir
tu
al
s
tato
r
c
u
r
r
en
t
of
t
h
e
esti
m
ato
r
in
th
e
o
p
er
atio
n
p
r
o
ce
s
s
of
th
e
I
MD
.
Fig
u
r
e
5
(
c)
d
em
o
n
s
tr
ated
t
h
e
eq
u
iv
alen
c
e
in
s
h
ap
e
a
n
d
m
ag
n
itu
d
e
of
th
e
v
ir
tu
al
(
r
ed
)
an
d
ac
tu
al
(
b
lu
e
)
cu
r
r
en
t
co
m
p
o
n
en
ts
d
u
r
in
g
th
e
o
p
er
at
io
n
of
I
MD
.
T
h
e
elec
t
r
ical
to
r
q
u
e
is
in
c
r
ea
s
ed
q
u
ick
ly
to
p
u
s
h
th
e
m
o
to
r
s
p
ee
d
up
to
th
e
s
ettin
g
v
alu
e;
a
f
ter
t
h
e
r
o
to
r
s
p
ee
d
r
ea
ch
es
t
h
e
s
ta
b
le
v
alu
e
,
th
e
elec
tr
ical
t
o
r
q
u
e
k
ee
p
s
b
alan
ce
with
t
he
lo
ad
to
r
q
u
e,
as
s
h
o
w
n
in
F
ig
u
r
e
5
(
d
)
.
T
h
e
p
r
o
p
o
s
ed
s
en
s
o
r
less
m
eth
o
d
is
v
e
r
if
ied
in
th
e
o
p
er
ati
n
g
co
n
d
itio
n
at
a
lo
w
s
p
ee
d
in
th
e
n
ex
t
ca
s
e.
A
r
ef
er
en
ce
s
p
ee
d
is
s
et
as
a
r
am
p
f
r
o
m
ze
r
o
to
a
v
alu
e
of
100
r
p
m
co
r
r
esp
o
n
d
in
g
to
a
r
am
p
lo
ad
to
r
q
u
e
of
5
Nm
ap
p
lied
,
as
s
h
o
wn
in
F
ig
u
r
e
s
6
(
a)
-
(
d
)
.
T
h
e
s
im
u
lati
o
n
s
h
o
ws
th
at
th
e
I
MD
h
as
a
q
u
ick
r
esp
o
n
s
e
r
o
to
r
s
p
ee
d
co
r
r
esp
o
n
d
in
g
t
o
th
e
o
p
er
atio
n
co
n
d
itio
n
.
Fig
u
r
e
6
(
a)
p
r
o
v
e
d
th
e
s
u
itab
ilit
y
of
th
e
p
r
o
p
o
s
ed
m
eth
o
d
in
s
p
ee
d
co
n
tr
o
l
d
u
r
in
g
th
e
o
p
e
r
atio
n
of
th
e
s
y
s
tem
at
a
lo
w
s
p
ee
d
.
T
h
e
esti
m
ated
cu
r
r
en
t
of
th
e
p
r
o
p
o
s
ed
m
eth
o
d
h
as
a
s
im
ilar
f
o
r
m
as
t
h
e
m
ea
s
u
r
ed
cu
r
r
en
t
in
Fig
u
r
e
s
6
(
b
)
,
an
d
6
(
c)
.
T
h
e
r
ef
o
r
e
,
t
h
e
FOC
lo
o
p
u
s
in
g
th
e
esti
m
ated
cu
r
r
en
t
s
till
ef
f
ec
tiv
ely
co
n
tr
o
l
th
e
r
o
to
r
s
p
ee
d
eq
u
iv
alen
t
to
th
e
FOC
lo
o
p
u
tili
zin
g
th
e
s
en
s
o
r
'
s
f
ee
d
b
ac
k
c
u
r
r
en
t
s
ig
n
al.
Fig
u
r
e
6
(
d
)
d
escr
ib
es
th
e
elec
t
r
ical
to
r
q
u
e
an
d
lo
ad
to
r
q
u
e
of
5
(
N.
m
)
in
th
e
o
p
er
atio
n
of
th
e
I
MD
s
y
s
tem
.
T
h
r
o
u
g
h
th
e
ab
o
v
e
ty
p
ical
ca
s
es,
I
MD
u
s
in
g
v
ir
tu
al
cu
r
r
en
t
ca
n
wo
r
k
ef
f
ec
tiv
ely
at
th
e
r
ated
s
p
ee
d
as
well
as
a
lo
w
s
p
ee
d
.
T
h
e
s
im
u
latio
n
r
esu
lts
h
av
e
s
h
o
w
n
th
at
t
h
e
v
ir
t
u
al
s
tato
r
c
u
r
r
e
n
t
o
f
th
e
esti
m
atio
n
m
eth
o
d
is
s
im
ilar
to
th
e
ac
tu
al
cu
r
r
en
t
o
f
th
e
I
MD
.
T
h
u
s
,
th
e
FOC
tech
n
iq
u
e
with
v
ir
tu
al
s
tato
r
cu
r
r
en
t
b
ased
o
n
th
e
r
o
to
r
s
lip
h
as b
ee
n
p
r
o
v
ed
f
ea
s
ib
le
in
th
e
s
p
ee
d
co
n
tr
o
l o
f
I
MD
o
v
er
a
wid
e
s
p
ee
d
r
a
n
g
e.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
5.
Per
f
o
r
m
an
c
e
of
t
h
e
I
MD
at
1420
r
p
m
with
th
e
v
ir
t
u
al
-
cu
r
r
e
n
t
in
a
r
ate
d
-
lo
ad
of
1
4
.
8
Nm
;
(
a)
r
ef
er
e
n
ce
an
d
r
ea
l
s
p
ee
d
,
(
b)
v
ir
tu
al
s
tato
r
c
u
r
r
e
n
t,
(
c)
v
ir
tu
al
an
d
r
ea
l
-
al
p
h
a
cu
r
r
en
ts
,
(
d)
to
r
q
u
es
of
I
MD
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2
0
8
8
-
8
694
A
field
-
o
r
ien
ted
co
n
tr
o
l m
eth
o
d
u
s
in
g
th
e
virt
u
a
l c
u
r
r
en
ts
fo
r
th
e
in
d
u
ctio
n
m
o
to
r
d
r
ive
(
C
u
o
n
g
Din
h
Tr
a
n
)
2101
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
6.
Per
f
o
r
m
an
c
e
of
t
h
e
I
MD
at
100
r
p
m
with
th
e
v
ir
tu
a
l
-
cu
r
r
en
t
in
a
lo
ad
of
5
Nm
;
(
a
)
r
ef
er
e
n
ce
an
d
r
ea
l
s
p
ee
d
,
(
b)
v
ir
tu
al
s
tato
r
c
u
r
r
en
t,
(
c)
v
ir
tu
al
a
n
d
r
ea
l
al
p
h
a
-
cu
r
r
en
ts
,
(
d)
to
r
q
u
es
of
I
MD
4.
CO
NCLU
SI
O
N
T
h
is
p
ap
er
p
r
esen
ts
an
o
th
er
ap
p
r
o
ac
h
in
esti
m
atin
g
a
v
ir
tu
al
s
tato
r
cu
r
r
en
t
v
ec
to
r
to
c
o
n
tr
o
l
th
e
m
o
to
r
s
p
ee
d
b
ased
on
th
e
F
OC
tech
n
iq
u
e.
T
h
e
v
ir
tu
al
s
tato
r
cu
r
r
en
ts
ca
lcu
lated
b
ase
d
on
th
e
r
o
to
r
s
lip
co
m
b
in
in
g
th
e
r
ef
er
e
n
ce
s
ig
n
a
ls
ar
e
u
s
ed
in
s
tead
of
t
h
e
f
ee
d
b
ac
k
cu
r
r
en
t
s
ig
n
al
in
t
h
e
FOC
co
n
tr
o
l
lo
o
p
.
T
h
e
v
ir
tu
al
cu
r
r
e
n
ts
h
av
e
in
d
icat
ed
th
e
eq
u
iv
alen
ce
in
s
h
ap
e
an
d
m
ag
n
itu
d
e
with
th
e
m
ea
s
u
r
ed
cu
r
r
e
n
t
in
s
im
u
latio
n
r
esu
lts
.
C
o
n
s
eq
u
e
n
tly
,
an
I
MD
s
y
s
tem
u
s
in
g
t
h
e
FOC
s
tr
ateg
y
to
co
n
tr
o
l
th
e
m
o
to
r
s
p
ee
d
with
o
u
t
cu
r
r
en
t
s
en
s
o
r
s
h
as
wo
r
k
ed
r
eliab
ly
d
u
r
in
g
o
p
er
atio
n
.
Fu
r
t
h
er
m
o
r
e
,
th
e
FOC
m
eth
o
d
u
s
in
g
v
ir
tu
al
cu
r
r
e
n
ts
can
also
be
ap
p
lied
as
a
b
ac
k
u
p
s
o
lu
tio
n
in
th
e
r
ec
o
n
f
ig
u
r
atio
n
p
h
ase
of
th
e
cu
r
r
en
t
s
en
s
o
r
f
au
lt
-
to
ler
an
t
co
n
tr
o
l
tech
n
iq
u
es
.
ACK
NO
WL
E
DG
E
M
E
NT
S
T
h
is
r
esear
ch
is
f
u
n
d
e
d
by
Saig
o
n
Un
iv
e
r
s
ity
,
Vietn
am
,
2
0
2
1
,
u
n
d
er
g
r
an
t
n
u
m
b
er
C
S2
0
2
1
-
17.
RE
F
E
R
E
NC
E
S
[1
]
T.
F.
C
h
a
n
a
n
d
K.
S
h
i
,
“
Ap
p
li
e
d
in
telli
g
e
n
t
c
o
n
tro
l
of
in
d
u
c
ti
o
n
m
o
to
r
d
ri
v
e
s,
”
in
IEE
E
PR
E
S
S
,
1
st
e
d
,
Jo
h
n
W
il
e
y
&
S
o
n
s,
2
0
1
1
,
p
p
.
1
-
7.
[2
]
J.
M.
P
e
ñ
a
a
n
d
E.
V.
Día
z
,
“
Im
p
lem
e
n
tatio
n
of
V/f
sc
a
lar
c
o
n
tro
l
fo
r
sp
e
e
d
re
g
u
lati
o
n
of
a
th
re
e
-
p
h
a
se
in
d
u
c
ti
o
n
m
o
to
r,
”
in
2
0
1
6
IE
EE
ANDE
S
CON
,
Oc
t.
2
0
1
6
,
pp.
1
-
4,
d
o
i:
1
0
.
1
1
0
9
/AND
ES
CON
.
2
0
1
6
.
7
8
3
6
1
9
6
.
[3
]
A.
S
m
it
h
,
S.
G
a
d
o
u
e
,
M.
Arm
stro
n
g
,
a
n
d
J.
F
i
n
c
h
,
“
Im
p
ro
v
e
d
m
e
th
o
d
fo
r
th
e
sc
a
lar
c
o
n
tro
l
of
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,
”
IET
El
e
c
tric
Po
we
r
A
p
p
li
c
a
ti
o
n
s
,
v
o
l.
7,
n
o
.
6,
p
p
.
4
8
7
-
4
9
8
,
2
0
1
3
,
d
o
i:
1
0
.
1
0
4
9
/i
e
t
-
e
p
a
.
2
0
1
2
.
0
3
8
4
.
[4
]
T.
H.
dos
S
a
n
to
s,
A.
G
o
e
d
tel,
S.
A.
O.
da
S
il
v
a
,
a
n
d
M.
S
u
e
tak
e
,
“
S
c
a
lar
c
o
n
tro
l
of
an
i
n
d
u
c
ti
o
n
m
o
to
r
u
si
n
g
a
n
e
u
ra
l
se
n
so
r
les
s
tec
h
n
i
q
u
e
,
”
El
e
c
tric
Po
we
r
S
y
ste
ms
Res
e
a
rc
h
,
v
o
l.
1
0
8
,
p
p
.
3
2
2
-
3
3
0
,
2
0
1
4
,
d
o
i
:
1
0
.
1
0
1
6
/
j.
e
p
sr.
2
0
1
3
.
1
1
.
0
2
0
.
[5
]
Z.
Z
h
a
n
g
a
n
d
A.
M
.
Ba
z
z
i,
“
Ro
b
u
st
S
e
n
s
o
rles
s
S
c
a
lar
Co
n
tro
l
o
f
In
d
u
c
ti
o
n
M
o
to
r
Driv
e
s
wi
th
To
r
q
u
e
Ca
p
a
b
il
it
y
En
h
a
n
c
e
m
e
n
t
a
t
L
o
w
S
p
e
e
d
s,
”
2
0
1
9
IE
EE
I
n
ter
n
a
ti
o
n
a
l
El
e
c
tric
M
a
c
h
i
n
e
s
&
Dr
ive
s
Co
n
fer
e
n
c
e
(
IEM
DC)
,
2
0
1
9
,
p
p
.
1
7
0
6
-
1
7
1
0
,
d
o
i:
1
0
.
1
1
0
9
/IE
M
DC.2
0
1
9
.
8
7
8
5
1
5
9
.
[6
]
G.
Ko
h
lru
sz
a
n
d
D.
F
o
d
o
r,
“
Co
m
p
a
riso
n
of
sc
a
lar
a
n
d
v
e
c
to
r
c
o
n
tro
l
stra
teg
ies
of
i
n
d
u
c
ti
o
n
m
o
t
o
rs,
”
Hu
n
g
a
ria
n
J
o
u
rn
a
l
of
In
d
u
stry
a
n
d
Ch
e
mistr
y
.
,
v
o
l.
39,
n
o
.
2,
pp.
2
6
5
-
2
7
0
,
2
0
1
1
,
d
o
i:
1
0
.
1
5
1
5
/
4
2
2
.
[7
]
M.
Us
a
m
a
a
n
d
J.
Kim
,
“
Ve
c
to
r
Co
n
tr
o
l
Alg
o
rit
h
m
Ba
se
d
on
Dif
fe
re
n
t
Cu
rre
n
t
C
o
n
tr
o
l
S
witc
h
in
g
Tec
h
n
iq
u
e
s
fo
r
Ac
M
o
to
r
Driv
e
s,
”
in
E3
S
W
e
b
of
Co
n
fer
e
n
c
e
s
,
v
o
l.
1
5
2
,
p.
0
3
0
0
9
,
2
0
2
0
,
d
o
i:
1
0
.
1
0
5
1
/e
3
sc
o
n
f/
2
0
2
0
1
5
2
0
3
0
0
9
.
[8
]
A.
P
o
p
o
v
,
V.
Lap
sh
in
a
,
F
.
Briz
a
n
d
I.
G
u
ly
a
e
v
,
“
Dy
n
a
m
ic
o
p
e
ra
ti
o
n
o
f
F
OC
in
d
u
c
ti
o
n
m
a
c
h
in
e
s
u
n
d
e
r
c
u
rre
n
t
a
n
d
v
o
lt
a
g
e
c
o
n
stra
in
ts,
”
2
0
1
7
1
9
t
h
Eu
ro
p
e
a
n
Co
n
fer
e
n
c
e
o
n
Po
we
r
El
e
c
tro
n
ics
a
n
d
Ap
p
li
c
a
ti
o
n
s
(
EP
E'1
7
ECCE
Eu
ro
p
e
)
,
2
0
1
7
,
p
p
.
P
.
1
-
P
.
1
0
,
d
o
i:
1
0
.
2
3
9
1
9
/E
P
E1
7
ECCE
E
u
ro
p
e
.
2
0
1
7
.
8
0
9
9
2
9
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
Po
w
E
lec
&
Dr
i
Sy
s
t,
Vo
l.
12
,
No
.
4
,
Dec
em
b
er
2
0
2
1
:
209
5
–
2
1
0
2
2102
[9
]
A.
P
o
p
o
v
,
V.
P
o
p
o
v
a
,
I
.
G
u
ly
a
e
v
a
n
d
F
.
Briz,
“
Dy
n
a
m
ic
Re
s
p
o
n
se
o
f
F
OC
I
n
d
u
c
ti
o
n
M
o
to
r
s
Us
in
g
M
T
P
A
Co
n
sid
e
ri
n
g
Vo
lt
a
g
e
Co
n
stra
in
t
s,
”
2
0
1
9
2
6
th
In
ter
n
a
ti
o
n
a
l
W
o
rk
sh
o
p
o
n
E
lec
tric
Dr
ive
s:
Imp
ro
v
e
me
n
t
in
Ef
fi
c
ien
c
y
o
f
E
lec
tric Dr
ive
s (IW
ED)
,
2
0
1
9
,
p
p
.
1
-
5
,
d
o
i:
1
0
.
1
1
0
9
/
IW
ED.
2
0
1
9
.
8
6
6
4
4
0
2
.
[1
0
]
W.
Li
,
Z
.
X
u
a
n
d
Y
.
Z
h
a
n
g
,
“
I
n
d
u
c
t
io
n
m
o
t
o
r
c
o
n
tr
o
l
sy
ste
m
b
a
se
d
o
n
F
OC
a
lg
o
r
it
h
m
,
”
2
0
1
9
IEE
E
8
th
J
o
i
n
t
In
ter
n
a
t
io
n
a
l
I
n
fo
rm
a
ti
o
n
T
e
c
h
n
o
lo
g
y
a
n
d
Arti
fi
c
ia
l
I
n
telli
g
e
n
c
e
Co
n
fer
e
n
c
e
(IT
AIC)
,
2
0
1
9
,
p
p
.
1
5
4
4
-
1
5
4
8
,
d
o
i
:
1
0
.
1
1
0
9
/I
TAIC.
2
0
1
9
.
8
7
8
5
5
9
7
.
[1
1
]
F
.
Xie
,
Q.
Wan
g
a
n
d
G
.
L
i,
“
Op
ti
m
iza
ti
o
n
re
se
a
rc
h
o
f
F
OC
b
a
se
d
o
n
P
S
O
o
f
in
d
u
c
ti
o
n
m
o
t
o
rs,
”
2
0
1
2
1
5
th
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
E
lec
trica
l
M
a
c
h
i
n
e
s a
n
d
S
y
ste
ms
(ICEM
S
)
,
2
0
1
2
,
p
p
.
1
-
4
.
[1
2
]
H.
A.
To
li
y
a
t,
E
.
Lev
i
a
n
d
M
.
Ra
in
a
,
“
A rev
iew
o
f
RF
O i
n
d
u
c
ti
o
n
m
o
to
r
p
a
ra
m
e
ter es
ti
m
a
ti
o
n
tec
h
n
iq
u
e
s,
”
in
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
En
e
rg
y
C
o
n
v
e
rs
i
o
n
,
v
o
l.
1
8
,
n
o
.
2
,
p
p
.
2
7
1
-
2
8
3
,
Ju
n
e
2
0
0
3
,
d
o
i:
1
0
.
1
1
0
9
/T
EC.
2
0
0
3
.
8
1
1
7
1
9
.
[1
3
]
H.
Le
-
Hu
y
,
“
Co
m
p
a
riso
n
of
fi
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in
Co
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fer
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9
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T
h
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t.
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p
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0
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S
.
1
9
9
9
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8
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1
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.
[1
4
]
AN
2
3
8
8
Ap
p
li
c
a
ti
o
n
n
o
te,
“
S
e
n
so
r
field
o
rien
te
d
c
o
n
tro
l
(IF
O
C)
of
t
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-
p
h
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m
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u
si
n
g
S
T1
0
F
2
7
6
,
”
ST
M
icro
e
lec
tro
n
ics
,
Oc
t.
2
0
0
6
,
p
p
.
54.
Av
a
il
a
b
le:
h
tt
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-
st1
0
f2
7
6
-
stm
icro
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lec
tro
n
ics
.
p
d
f
.
[1
5
]
C.
D.
Tran
,
P.
P
a
lac
k
y
,
M.
K
u
c
h
a
r,
P.
Bra
n
d
ste
tt
e
r,
a
n
d
B.
H,
Di
n
h
,
“
C
u
rre
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t
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n
d
S
p
e
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d
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n
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r
F
a
u
lt
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d
Ap
p
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e
d
to
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d
u
c
ti
o
n
M
o
to
r
Driv
e
,
”
IEE
E
Acc
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ss
.
,
v
o
l.
9,
p
p
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6
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0
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0
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S
S
.
2
0
2
1
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3
0
6
4
0
1
6
.
[1
6
]
F
.
W
u
,
J.
Zh
a
o
,
Y.
Li
u
a
n
d
W.
Ca
o
,
“
A
re
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l
-
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m
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n
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fa
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b
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d
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Ex
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d
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d
Ka
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F
i
lt
e
r,
”
2
0
1
6
I
n
ter
n
a
ti
o
n
a
l
S
y
mp
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siu
m
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n
Po
we
r
El
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c
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ics
,
El
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c
trica
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ive
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t
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M
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P
EE
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M
.
2
0
1
6
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7
5
2
5
8
0
5
.
[1
7
]
C.
D.
Tran
,
P.
Bra
n
d
ste
tt
e
r,
M.
C.
H.
Ng
u
y
e
n
,
S.
D.
Ho
,
B.
H.
Di
n
h
,
a
n
d
P.
N.
P
h
a
m
,
“
A
ro
b
u
st
d
ia
g
n
o
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m
e
th
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d
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r
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se
n
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fa
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lt
b
a
se
d
on
sta
to
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u
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n
ts
in
t
h
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RF
OC
i
n
d
u
c
ti
o
n
m
o
to
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d
riv
e
,
”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
of
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
.
,
v
o
l.
10,
n
o
.
3,
p
p
.
3
0
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4
6
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0
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0
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0
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1
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v
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0
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p
3
0
3
5
-
3
0
4
6
.
[1
8
]
C.
Ch
a
k
ra
b
o
rt
y
a
n
d
V.
Ve
rm
a
,
“
S
p
e
e
d
a
n
d
Cu
r
re
n
t
S
e
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so
r
F
a
u
lt
De
tec
ti
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n
a
n
d
Iso
lati
o
n
Tec
h
n
i
q
u
e
fo
r
In
d
u
c
ti
o
n
M
o
to
r
Driv
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Us
in
g
Ax
e
s T
ra
n
sfo
rm
a
ti
o
n
,
”
in
I
EE
E
T
r
a
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
El
e
c
tro
n
ics
,
v
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l.
6
2
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o
.
3
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TIE
.
2
0
1
4
.
2
3
4
5
3
3
7
.
[1
9
]
C.
D.
Tran
,
P.
Bra
n
d
ste
tt
e
r,
M.
K
u
c
h
a
r,
a
n
d
S.
D.
Ho
,
“
A
N
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v
e
l
S
p
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d
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n
d
Cu
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S
e
n
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r
F
a
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lt
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T
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lera
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t
C
o
n
tro
l
Ba
se
d
on
Esti
m
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ted
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tat
o
r
C
u
rre
n
ts
in
In
d
u
c
ti
o
n
M
o
to
r
Dri
v
e
s,
”
In
ter
n
a
t
io
n
a
l
Rev
iew
of
El
e
c
trica
l
E
n
g
i
n
e
e
rin
g
.
,
v
o
l.
1
5
,
no.
5,
p
p
.
3
4
4
-
3
5
1
,
2
0
2
0
,
d
o
i:
1
0
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1
5
8
6
6
/
iree
.
v
1
5
i5
.
1
7
9
3
7
.
[2
0
]
G
.
Ba
rb
a
,
L.
G
li
e
lmo
,
V.
P
e
rn
a
a
n
d
F
.
Va
sc
a
,
“
Cu
rre
n
t
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n
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r
les
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u
c
ti
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m
o
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b
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rv
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n
d
c
o
n
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l
f
o
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y
b
rid
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lec
tri
c
v
e
h
icle
s,
”
2
0
0
1
IEE
E
3
2
n
d
A
n
n
u
a
l
Po
we
r
El
e
c
tro
n
ics
S
p
e
c
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li
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Co
n
fer
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n
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e
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EE
Ca
t.
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CH3
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0
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.
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2
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4
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2
9
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l
.
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o
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1
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9
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E
S
C.
2
0
0
1
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9
5
4
2
8
6
.
[2
1
]
Y.
Az
z
o
u
g
,
R
.
P
u
sc
a
,
M
.
S
a
h
ra
o
u
i,
A.
Am
m
a
r,
R.
Ro
m
a
ry
a
n
d
A.
J.
M
a
rq
u
e
s
Ca
rd
o
s
o
,
“
A
S
in
g
le
Ob
se
rv
e
r
f
o
r
Cu
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n
ts
Esti
m
a
ti
o
n
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e
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r’s
F
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u
lt
-
To
lera
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t
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n
tro
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f
In
d
u
c
ti
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M
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t
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r
Driv
e
s,
”
2
0
1
9
In
ter
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a
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C
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A
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d
A
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ma
ti
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n
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n
d
I
n
d
u
stria
l
Di
a
g
n
o
stics
(ICAA
ID)
,
2
0
1
9
,
p
p
.
1
-
6
,
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o
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1
0
9
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.
2
0
1
9
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8
9
3
4
9
69
.
[2
2
]
V.
Ve
rm
a
,
“
Cu
rre
n
t
se
n
s
o
rles
s
v
e
c
to
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c
o
n
tr
o
ll
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d
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n
d
u
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ti
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n
m
o
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o
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,
”
IAE
S
I
n
ter
n
a
t
io
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a
l
J
o
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a
l
of
Ro
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ti
c
s
and
Au
to
ma
ti
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n
,
v
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l
.
8,
n
o
.
1,
p
p
.
52
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7
,
2
0
1
9
,
d
o
i
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0
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1
1
5
9
1
/i
jra.v
8
i1
.
p
p
5
2
-
6
7
.
[2
3
]
M.
Ad
a
m
c
z
y
k
a
n
d
T.
Orlo
ws
k
a
-
Ko
wa
lsk
a
,
“
Virtu
a
l
C
u
rre
n
t
S
e
n
s
o
r
in
th
e
F
a
u
lt
-
T
o
lera
n
t
F
ield
-
Or
ien
ted
Co
n
tr
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l
S
tru
c
tu
re
of
an
In
d
u
c
ti
o
n
M
o
t
o
r
Driv
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,
”
S
e
n
so
rs
,
v
o
l.
19,
n
o
.
22,
p.
4
9
7
9
,
2
0
1
9
,
d
o
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1
0
.
3
3
9
0
/s
1
9
2
2
4
9
7
9
.
[2
4
]
P.
Bra
n
d
ste
tt
e
r,
M.
D
o
b
r
o
v
sk
y
,
M.
Ku
c
h
a
r,
C
.
S
.
T
.
Do
n
g
,
a
n
d
H.
H.
Vo
,
“
Ap
p
li
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ti
o
n
of
BE
M
F
-
M
RAS
wit
h
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lma
n
fil
ter
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se
n
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rles
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c
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n
tro
l
of
in
d
u
c
ti
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n
m
o
to
r
d
ri
v
e
,
”
El
e
c
t
ric
a
l
En
g
i
n
e
e
rin
g
,
v
o
l.
9
9
,
n
o
.
7
,
pp.
1
1
5
1
-
1
1
6
0
,
2
0
1
7
,
d
o
i:
1
0
.
1
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0
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/s
0
0
2
0
2
-
0
1
7
-
0
6
1
3
-
4.
[2
5
]
H.
H.
Vo
,
M.
K
u
c
h
a
r,
P.
Bra
n
d
st
e
tt
e
r
,
“
Ap
p
li
c
a
ti
o
n
of
f
u
z
z
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g
ic
in
se
n
so
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s
in
d
u
c
ti
o
n
m
o
t
o
r
d
r
i
v
e
with
P
W
M
-
DTC,
”
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c
trica
l
En
g
i
n
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e
rin
g
,
v
o
l.
1
0
2
,
n
o
.
1
,
pp.
1
2
9
-
1
4
0
,
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0
1
9
,
d
o
i:
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0
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1
0
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7
/s
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0
2
0
2
-
0
1
9
-
0
0
8
1
0
-
z.
[2
6
]
M
.
Ku
c
h
a
r,
P
.
Bra
n
d
ste
tt
e
r
a
n
d
M
.
Ka
d
u
c
h
,
“
S
e
n
so
rles
s
in
d
u
c
ti
o
n
m
o
to
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d
ri
v
e
with
n
e
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ra
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two
rk
,
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2
0
0
4
IEE
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3
5
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h
An
n
u
a
l
P
o
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c
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S
p
e
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4
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5
1
)
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3
0
1
-
3
3
0
5
Vo
l
.
5
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o
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0
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1
0
9
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E
S
C.
2
0
0
4
.
1
3
5
5
0
5
8
.
.
[2
7
]
V.
T
.
Ha
,
N.
T.
Lam
,
V.
T.
Ha
,
a
n
d
Q.
V.
Vo
,
“
Ad
v
a
n
c
e
d
c
o
n
tro
l
stru
c
tu
re
s
f
o
r
i
n
d
u
c
ti
o
n
m
o
to
rs
w
it
h
id
e
a
l
c
u
rre
n
t
lo
o
p
re
sp
o
n
se
u
sin
g
field
o
rie
n
ted
c
o
n
t
ro
l,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
of
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
v
o
l
.
10,
no.
4,
p
p
.
1
7
5
8
-
1
7
7
1
,
2
0
1
9
,
d
o
i:
1
0
.
1
1
5
9
1
/
ij
p
e
d
s.
v
1
0
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i
4
.
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p
1
7
5
8
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7
7
1
.
[2
8
]
C.
Lao
u
fi,
Z.
S
a
d
o
u
n
e
,
A.
Ab
b
o
u
,
a
n
d
M.
A
k
h
e
rra
z
,
“
Ne
w
m
o
d
e
l
of
e
lec
tri
c
trac
ti
o
n
d
ri
v
e
b
a
se
d
sli
d
i
n
g
m
o
d
e
c
o
n
tro
ll
e
r
in
field
-
o
rien
te
d
c
o
n
tr
o
l
of
in
d
u
c
t
io
n
m
o
t
o
r
fe
d
by
m
u
l
ti
lev
e
l
i
n
v
e
rter,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
of
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
v
o
l.
11,
n
o
.
1,
pp.
2
4
2
-
2
5
0
,
2
0
2
0
,
d
o
i:
1
0
.
1
1
5
9
1
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j
p
e
d
s.
v
1
1
.
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.
p
p
2
4
2
-
2
5
0
.
[2
9
]
M.
K.
M
e
twa
ly
,
et
a
l.
,
“
S
m
a
rt
i
n
teg
ra
ti
o
n
of
d
ri
v
e
sy
ste
m
f
o
r
i
n
d
u
c
ti
o
n
m
o
to
r
a
p
p
li
c
a
ti
o
n
s
in
e
le
c
tri
c
v
e
h
icle
s,
”
In
ter
n
a
t
io
n
a
l
J
o
u
r
n
a
l
of
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
v
o
l
.
12,
n
o
.
1,
p
p
.
20
-
2
8
,
2
0
2
1
,
d
o
i:
1
0
.
1
1
5
9
1
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j
p
e
d
s.v
1
2
.
i1
.
p
p
2
0
-
2
8
.
[3
0
]
S.
D.
Ho
,
P.
Bra
n
d
ste
tt
e
r,
P.
P
a
lac
k
y
,
M.
Ku
c
h
a
r,
B.
H.
Din
h
,
a
n
d
C.
D.
Tran
,
“
Cu
rre
n
t
se
n
so
rles
s
m
e
th
o
d
b
a
se
d
on
field
-
o
rien
ted
c
o
n
tro
l
in
in
d
u
c
ti
o
n
m
o
to
r
d
ri
v
e
,
”
J
o
u
rn
a
l
of
E
lec
trica
l
S
y
ste
ms
,
v
o
l.
1
7
,
no.
1,
p
p
.
62
-
76,
2
0
2
1
.
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